Design And Research On Double-side Transport Nursing Robot

At present,robot technology is more and more mature in operation,rehabilitation and other medical instruments.But for the postoperative patients and bedridden elderly transport problems,the original lifting and holding methods are still the mainstay.This way is easy to change the patient’s posture,causing secondary injuries,but also increased the physical and mental burden of nursing staff.In view of the above problems,this paper designed and developed a double-side transport nursing robot.According to the needs of the transport process,it analyzed the force of the human body in the process of movement,put forward a reasonable control strategy,and carried out experimental research on the developed prototype.Firstly,the physiological structure of human body and the stress of human body in the process of transport are analyzed.Based on the results of mechanical analysis,the overall dimensions and the dimensions of each sub-module of the double-side transport nursing robot were determined.The operation principle of the equipment is described.According to its principle,the driving motor and reducer are selected and calculated.Then determine the form of power supply,and according to the engineering needs to determine the capacity of the battery and the number of work.Secondly,the structure design of the transmission parts,power parts and tensioning parts of the upper and lower modules of the mechanical structure of the equipment is introduced in detail.The strength analysis and calculation of the important transmission gear during the operation of the equipment have been carried out,and the reliability of the components has been verified.ANSYS simulation was carried out to verify the rationality of the strength and stiffness of the insert roller,an important bearing part of the equipment.Thirdly,the fuzzy PID algorithm is used to improve the dynamic response and anti-interference ability of a single motor in view of the load changes in the working process caused by the difference of patients’ weight.In order to achieve the purpose that the posture of the patient remains unchanged in the transport process,through modeling and simulation analysis of three synchronous control strategies based on fuzzy PID,a cross-coupling synchronous control strategy based on fuzzy PID is designed as the best control strategy of the equipment.Finally,the hardware and software systems of the equipment were systematically integrated,and an experimental platform for the two-way transport nursing robot was built and experimental verification was carried out.The experimental results show that the velocity and position errors of the synchronous control strategy are smaller than those of the non-synchronous control strategy,which verifies the correctness of the control strategy.The human body does not feel uncomfortable in the process of manned transport experiment,which verifies the feasibility of the design of the double-side transport nursing robot.